CN106312995B - A kind of intelligent carriage with marble emission function - Google Patents
A kind of intelligent carriage with marble emission function Download PDFInfo
- Publication number
- CN106312995B CN106312995B CN201610893056.3A CN201610893056A CN106312995B CN 106312995 B CN106312995 B CN 106312995B CN 201610893056 A CN201610893056 A CN 201610893056A CN 106312995 B CN106312995 B CN 106312995B
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- CN
- China
- Prior art keywords
- marble
- push rod
- mounting plate
- vehicle frame
- transmitting
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/003—Manipulators for entertainment
Abstract
The invention discloses a kind of intelligent carriages with marble emission function,Marble emitting module is connected by crank rocker component with the front side edge of vehicle frame,Crank rocker component is used to adjust the launch angle of marble emitting module,The marble guide rod of marble emitting module is socketed with two layers of frame board,Running through in the middle part of mounting plate has marble push rod,Extend the other side of mounting plate in the rear end of marble push rod,The other side of mounting plate is equipped with driving mechanism,The driving input terminal of driving mechanism is connected with driving motor,The drive output of driving mechanism is connected with marble push rod,Driving mechanism drives marble push rod to carry out sprung return movement,For marble to be output to transmitting position,The both ends of mounting plate side are symmetrical arranged the support proximate matter for being parallel to marble guide rod,The front end of support proximate matter is separately installed with transmitting idler wheel.Launching effect of the present invention is good, and stability is good, simple in structure, easy to implement, has a good application prospect.
Description
Technical field
The present invention relates to intelligent robot technology fields, and in particular to a kind of intelligent carriage with marble emission function.
Background technology
With the fast development of electronic intelligence, intelligent robot has obtained extensive popularization and application.The electronics of national property
Design match good can train a large amount of relevant talent of smart electronics, currently, for occurring various types on the market
Intelligent carriage, can be convenient for manipulation, flexibly travel, still, in addition to the function of traveling, other functions are limited, for example, how to have
There is emission function, cross abrupt slope function, cross seesaw function, do not have, how to realize above-mentioned function, is that current urgent need solves
The problem of.
Invention content
The purpose of the present invention is overcoming existing intelligent carriage, it can not be emitted, cross abrupt slope, the function of seesaw excessively is asked
Topic.The intelligent carriage with marble emission function of the present invention, the function that can be realized transmitting, cross abrupt slope, cross seesaw, is realized
When emission function, marble can be held up and launched, moreover it is possible to the function that intelligent carriage can play basketball is developed, launching effect is good,
Stability is good, simple in structure, easy to implement, has a good application prospect.
In order to achieve the above object, the technical solution adopted in the present invention is：
A kind of intelligent carriage with marble emission function, including vehicle frame, the two sides of the vehicle frame are respectively arranged with vehicle
Wheel assembly, it is characterised in that：Marble emitting module is hinged between the vehicle frame two sides, the marble emitting module also passes through
Crank rocker component is connected with the front side edge of vehicle frame, and the crank rocker component is used to adjust the angle of departure of marble emitting module
Degree,
The marble emitting module includes mounting plate, and the both ends of the mounting plate are hinged on vehicle frame two sides
Between, the mounting plate is also connected with crank rocker component, the side of the mounting plate be fixed with four in etc.
The marble guide rod of side quadrangle, the marble guide rod are socketed with two layers of frame board, are both provided in the middle part of the frame board
Circular through hole, through there is marble push rod, the front end of the marble push rod can be in circular through hole at the mounting plate middle part
Move back and forth, the other side of mounting plate is extended in the rear end of the marble push rod, the mounting plate it is another
Side is equipped with driving mechanism, and the driving input terminal of the driving mechanism pushes driving motor to be connected with marble, the driving
The drive output of mechanism is connected with marble push rod, and the driving mechanism driving marble push rod carries out sprung return movement, uses
In marble are output to transmitting position, the both ends of the mounting plate side, which are symmetrical arranged, is parallel to marble guide rod
Proximate matter, the front end of the support proximate matter is supported to be separately installed with transmitting idler wheel, two transmitting idler wheels are symmetrical set, and are located at
The outer side edges of respective side marble guide rod, two transmitting idler wheels on setting be respectively arranged with driving its clockwise, counterclockwise
The transmitting motor of rotation.
A kind of marble trigger mechanism above-mentioned, it is characterised in that：The marble guide rod is all made of PC pipes and is made, each marble
The square distribution of guide rod enters the emitting area that each marble guide rod surrounds for being oriented to marble, and marble enter emitter region
Its edge is absorbed in the circular through hole of outside frame board behind domain.
A kind of marble trigger mechanism above-mentioned, it is characterised in that：The marble push rod includes transmitting baffle ring, push rod, driving
Connector, the transmitting baffle ring are marble push rod front end, and for contacting concurrent projectile ball, the transmitting baffle ring is mounted on push rod
Front end, and extend the other side of mounting plate, the drive connection part is mounted on the rear end of push rod, for connecting
The drive output of driving mechanism.
A kind of marble trigger mechanism above-mentioned, it is characterised in that：The driving mechanism includes connecting bearing, crankshaft-link rod,
The crankshaft-link rod is connect by connecting bearing with driving mechanism, and the drive connection part in marble push rod is arranged in the crankshaft-link rod
Interior, the other end of the crankshaft-link rod extends drive connection part.
A kind of marble trigger mechanism above-mentioned, it is characterised in that：The other side of the mounting plate is provided with to erecting
The first connecting seat, the second connecting seat set, the marble push driving motor to be mounted on the first connecting seat, the crankshaft-link rod
The other end be hinged on the second connecting seat.
A kind of intelligent carriage with marble emission function above-mentioned, it is characterised in that：The front of the vehicle frame two sides
Along the inclined surface for ease of upward slope, between the angle of inclination of the inclined surface is 5 ° -45 °.
A kind of intelligent carriage with marble emission function above-mentioned, it is characterised in that：The both ends of the vehicle frame front side edge
It is hinged with pressure arm component, the driving end of the pressure arm component is connected with pressure arm driving motor, and the pressure arm driving motor setting exists
In the vehicle frame front side edge.
A kind of intelligent carriage with marble emission function above-mentioned, it is characterised in that：The pressure arm component includes symmetrical
It is connected to first linking arm at vehicle frame front side edge both ends, pressure arm, the pressure arm and first are hinged between two the first linking arms
Adjustable angle between linking arm is provided with the adjustment hole being easily installed on first linking arm.
A kind of intelligent carriage with marble emission function above-mentioned, it is characterised in that：The crank rocker component includes
Crank rocker and crank rocker driving motor, the crank rocker driving motor are mounted in the vehicle frame front side edge, the song
The output end of handle rocking bar driving motor is connected with one end of crank rocker, the other end and the marble transmitting group of the crank rocker
Part is connected, the launch angle for adjusting marble emitting module.
A kind of intelligent carriage with marble emission function above-mentioned, it is characterised in that：The transmitting baffle ring is beaten using 3D
It prints, the push rod is made of carbon fibre material.
The beneficial effects of the invention are as follows：The intelligent carriage with marble emission function of the present invention, can realize transmitting, mistake
Abrupt slope, the function of crossing seesaw when realizing emission function, are provided with a pair of of transmitting idler wheel, can clockwise turn by slowly
It is dynamic that marble are smoothly sent into emitting area, and quickly rotated clockwise by transmitting idler wheel and quickly send out marble by frictional force
It is shot out, launching effect is good, and stability is good, simple in structure convenient for developing the function that intelligent carriage can play basketball, and is easy real
It is existing, it has a good application prospect.
Description of the drawings
Fig. 1 is the structural schematic diagram for the intelligent carriage that the present invention has marble emission function.
Fig. 2 is the side view for the intelligent carriage that the present invention has marble emission function.
Fig. 3 is the structural schematic diagram of marble emitting module of the present invention.
Fig. 4 is the structural schematic diagram of marble push rod of the present invention.
The meaning marked in attached drawing is as follows：
1：Vehicle frame；2：Vehicle wheel component；3：Marble emitting module；301：Mounting plate；301：Mounting plate；302：Bullet
Ball guide rod；303：Frame board；304：Circular through hole；305：Marble push rod；3051：Launch baffle ring；3052：Push rod；3053：It drives
Follower link；306：Driving mechanism；3061：Connect bearing；3062：Crankshaft-link rod；307：Marble push driving motor；308：The
A connecting seat；309：Second connecting seat；310：Support proximate matter；311：Emit idler wheel；312：Emit motor；4：Pressure arm component；
401：First linking arm；402：Pressure arm；403：Adjustment hole；404：Pressure arm driving motor；5：Crank rocker component；501：Crank shakes
Bar；502：Crank rocker driving motor.
Specific implementation mode
Below in conjunction with Figure of description, the present invention is further illustrated.
As shown in Figures 1 and 2, the intelligent carriage with marble emission function of the invention, including vehicle frame 1, the vehicle frame 1
Two sides be respectively arranged with vehicle wheel component 2, be hinged with marble emitting module 3 between 1 two sides of the vehicle frame, the marble hair
It penetrates component 3 to be also connected with the front side edge of vehicle frame 1 by crank rocker component 5, the crank rocker component 5 is for adjusting marble
The launch angle of emitting module 3,
The fronts of 1 two sides of the vehicle frame along the inclined surface for ease of upward slope, the angle of inclination of the inclined surface is 5 °-
Between 45 °, the fronts of 1 two sides of the vehicle frame along the inclined surface for ease of upward slope, here the angle of inclination of inclined surface be 5 °-
It between 45 °, can be designed according to according to the angle on abrupt slope, inclined surface can effectively prevent the front edge of 1 two sides of vehicle frame
It arrives on the inclined-plane of abrupt slope, realizes the quick function of crossing abrupt slope.
The both ends of 1 front side edge of the vehicle frame are hinged with pressure arm component 4, and the driving end of the pressure arm component 4 is connected with pressure arm
Driving motor 404, the pressure arm driving motor 404 are arranged in 1 front side edge of the vehicle frame, and the pressure arm component 4 includes symmetrical
It is connected to first linking arm 401 at 1 front side edge both ends of vehicle frame, pressure arm 402 is hinged between two the first linking arms 401, it is described
Adjustable angle between pressure arm 402 and the first linking arm 401 is provided with the adjusting being easily installed on first linking arm 401
Hole 403, convenient for adjusting the installation site of pressure arm 402 as needed, in use, pressure arm driving motor 404 drives the first linking arm
401 drive pressure arms 402 to push one end of seesaws, to make intelligent carriage pass through seesaw, realize quickly through sticking up
The function of plate.
The crank rocker component 5 includes crank rocker 501 and crank rocker driving motor 502, and the crank rocker drives
Dynamic motor 502 is mounted in 1 front side edge of the vehicle frame, output end and the crank rocker 501 of the crank rocker driving motor 502
One end be connected, the other end of the crank rocker 501 is connected with marble emitting module 3, for adjusting marble transmitting group
The launch angle of part 3,
As shown in Figures 3 and 4, the marble emitting module 3 includes mounting plate 301, the mounting plate 301
Both ends are hinged between 1 two sides of vehicle frame, and the mounting plate 301 is also connected with crank rocker component 5, the installation
The side of fixed plate 301 is fixed with four marble guide rods 302 in equilateral quadrangle, and the marble guide rod 302 is socketed with
The middle part of two layers of frame board 303, the frame board 303 is both provided with circular through hole 304, and 301 middle part of the mounting plate is passed through
It is installed with marble push rod 305, the front end of the marble push rod 305 can move back and forth in circular through hole 304, the marble
The other side of mounting plate 301 is extended in the rear end of push rod 305, and the other side of the mounting plate 301 is equipped with drive
The driving input terminal of motivation structure 306, the driving mechanism 306 pushes driving motor 307 to be connected with marble, the driving mechanism
306 drive output is connected with marble push rod 305, and the driving mechanism 306 drives marble push rod 305 to carry out sprung return
Movement, for marble to be output to transmitting position, the both ends of 301 side of the mounting plate, which are symmetrical arranged, is parallel to bullet
The support proximate matter 310 of ball guide rod 302, support proximate matter 310 can be aluminium section bar, and material is light, at low cost, and fastness is enough, is convenient for
The front end of the traveling of intelligent carriage, the support proximate matter 310 is separately installed with transmitting idler wheel 311, and two transmitting idler wheels 311 are in
It is symmetrical arranged, and setting is respectively arranged with drive in the outer side edges of respective side marble guide rod 302, two transmitting idler wheels 311
Move its transmitting motor 312 that is clockwise, rotating in an anti-clockwise direction.
The marble guide rod is all made of PC pipes and is made, 302 square distribution of each marble guide rod, for being oriented to marble
The emitting area surrounded into each marble guide rod 302, its edge is absorbed in positioned at outer side skeleton after marble enter emitting area
In the circular through hole 304 of plate 303, marble guide rod 2 plays the role of that marble and the direction of the launch is conveniently taken to be oriented to.
The marble push rod 305 includes transmitting baffle ring 3051, push rod 3052, drive connection part 3053, the transmitting baffle ring
3051 be 305 front end of marble push rod, for contacting concurrent projectile ball, before the transmitting baffle ring 3051 is mounted on push rod 3052
End, and extend the other side of mounting plate 301, the drive connection part 3053 is mounted on the rear end of push rod 3052,
Drive output for connecting driving mechanism 306.
The driving mechanism 306 includes connection bearing 3061, crankshaft-link rod 3062, and the crankshaft-link rod 3062 passes through connection
Bearing 3061 is connect with driving mechanism 306, and the drive connection part 3053 in marble push rod 305 is arranged in the crankshaft-link rod 3062
Interior, the other end of the crankshaft-link rod 3062 extends drive connection part 3053.
The other side of the mounting plate 301 is provided with the first connecting seat 308 of opposition setting, the second connecting seat 309,
The driving motor 307 is mounted on the first connecting seat 308, and the other end of the crankshaft-link rod 3062 is hinged on the second connecting seat
On 309.
Both the transmitting baffle ring 3051 is formed using 3D printing, and the push rod 3052 is made of carbon fibre material, make
It is light-weight, when being bounced by spring, improve speed, ensure launching effect.
The intelligent carriage with marble emission function of the present invention realizes that the operation principle of the function of transmitting marble is as follows：
The transmitting idler wheel 311 of respective side is controlled by emitting motor 312, slowly rotation stirs marble and smoothly enters marble and leads clockwise
When needing transmitting, the transmitting idler wheel 311 of respective side is controlled counterclockwise by emitting motor 312 for the ejection region constituted to bar 302
Quick rotation, and push driving motor 307 to control the rotation of crankshaft-link rod 3062 by connecting bearing 3061 by marble, bent axle connects
Bar 3062 controls drive connection part 3053 and moves forward, and realizes and marble push rod 305 is driven to move forward, be slowly moved to marble
Emit position, when marble touch transmitting idler wheel 311, the powerful frictional force that idler wheel 311 is generated with marble outer wall can be launched,
Launch, marble push driving motor 307 to rotate backward, and marble push rod 305 is driven to move backward return, whole process transmitting
Effect, stability is high, simple in structure, easy to implement.
In conclusion the intelligent carriage with marble emission function of the present invention, can realize transmitting, cross abrupt slope, cross and lift up
The function of seesaw when realizing emission function, is provided with a pair of of transmitting idler wheel, can be suitable by marble by slowly rotating clockwise
Profit is sent into emitting area, and is quickly rotated clockwise by transmitting idler wheel and marble are gone out by frictional force rapid fire, throws
It is high to penetrate height, stability is good, simple in structure convenient for developing the function that intelligent carriage can play basketball, easy to implement, has good
Application prospect.
The basic principles and main features and advantage of the present invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the above embodiments and description only describe the originals of the present invention
Reason, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes and improvements
It all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent circle
It is fixed.
Claims (10)
1. a kind of intelligent carriage with marble emission function, including vehicle frame（1）, the vehicle frame（1）Two sides be respectively set
There is vehicle wheel component（2）, it is characterised in that：The vehicle frame（1）Marble emitting module is hinged between two sides（3）, the marble
Emitting module（3）Also pass through crank rocker component（5）With vehicle frame（1）Front side edge be connected, the crank rocker component（5）With
In adjustment marble emitting module（3）Launch angle,
The marble emitting module（3）Including mounting plate（301）, the mounting plate（301）Both ends be hinged on
Vehicle frame（1）Between two sides, the mounting plate（301）Also with crank rocker component（5）It is connected, the mounting plate
（301）Side be fixed with four in equilateral quadrangle distribution marble guide rods（302）, the marble guide rod（302）Set
It is connected to two layers of frame board（303）, the frame board（303）Middle part be both provided with circular through hole（304）, the mounting plate
（301）Middle part, which is run through, marble push rod（305）, the marble push rod（305）Front end can be in circular through hole（304）Inside back and forth
It moves back and forth, the marble push rod（305）Rear end extend mounting plate（301）The other side, the installation fixes
Plate（301）The other side driving mechanism is installed（306）, the driving mechanism（306）Driving input terminal and marble push and drive
Dynamic motor（307）It is connected, the driving mechanism（306）Drive output and marble push rod（305）It is connected, the driving
Mechanism（306）Drive marble push rod（305）Sprung return movement is carried out, for marble to be output to transmitting position, the installation
Fixed plate（301）The both ends of side are symmetrical arranged and are parallel to marble guide rod（302）Support proximate matter（310）, the branch
Support proximate matter（310）Front end be separately installed with transmitting idler wheel（311）, two transmitting idler wheels（311）It is symmetrical set, and is located at
Respective side marble guide rod（302）Outer side edges, two transmitting idler wheels（311）It is upper setting be respectively arranged with driving its clockwise,
The transmitting motor rotated in an anti-clockwise direction（312）.
2. a kind of intelligent carriage with marble emission function according to claim 1, it is characterised in that：The marble are led
PC pipes are all made of to bar to be made, each marble guide rod（302）Square distribution enters each marble guide rod for being oriented to marble
（302）The emitting area surrounded, its edge is absorbed in positioned at outside frame board after marble enter emitting area（303）Circle it is logical
Hole（304）It is interior.
3. a kind of intelligent carriage with marble emission function according to claim 1, it is characterised in that：The marble push away
Bar（305）Including emitting baffle ring（3051）, push rod（3052）, drive connection part（3053）, the transmitting baffle ring（3051）For bullet
Ball push rod（305）Front end, for contacting concurrent projectile ball, the transmitting baffle ring（3051）Mounted on push rod（3052）Front end
Portion, and extend mounting plate（301）The other side, the drive connection part（3053）Mounted on push rod（3052）Rear end
Portion, for connecting driving mechanism（306）Drive output.
4. a kind of intelligent carriage with marble emission function according to claim 1, it is characterised in that：The driving machine
Structure（306）Including connecting bearing（3061）, crankshaft-link rod（3062）, the crankshaft-link rod（3062）By connecting bearing（3061）
With driving mechanism（306）Connection, the crankshaft-link rod（3062）It is arranged in marble push rod（305）Drive connection part（3053）
It is interior, the crankshaft-link rod（3062）The other end extend drive connection part（3053）.
5. a kind of intelligent carriage with marble emission function according to claim 4, it is characterised in that：The installation is solid
Fixed board（301）The other side be provided with opposition setting the first connecting seat（308）, the second connecting seat（309）, the marble promotion
Driving motor（307）Mounted on the first connecting seat（308）On, the crankshaft-link rod（3062）The other end be hinged on the second connection
Seat（309）On.
6. a kind of intelligent carriage with marble emission function according to claim 1, it is characterised in that：The vehicle frame
（1）The fronts of two sides is along the inclined surface for ease of upward slope, between the angle of inclination of the inclined surface is 5 ° -45 °.
7. a kind of intelligent carriage with marble emission function according to claim 1, it is characterised in that：The vehicle frame
（1）The both ends of front side edge are hinged with pressure arm component（4）, the pressure arm component（4）Driving end be connected with pressure arm driving motor
（404）, the pressure arm driving motor（404）It is arranged in the vehicle frame（1）In front side edge.
8. a kind of intelligent carriage with marble emission function according to claim 7, it is characterised in that：The pressure arm group
Part（4）Including being symmetrically connected to vehicle frame（1）First linking arm at front side edge both ends（401）, two the first linking arms（401）Between
It is hinged with pressure arm（402）, the pressure arm（402）With the first linking arm（401）Between adjustable angle, first linking arm
（401）On be provided with the adjustment hole being easily installed（403）.
9. a kind of intelligent carriage with marble emission function according to claim 1, it is characterised in that：The crank shakes
Bar assembly（5）Including crank rocker（501）With crank rocker driving motor（502）, the crank rocker driving motor（502）Peace
Mounted in the vehicle frame（1）In front side edge, the crank rocker driving motor（502）Output end and crank rocker（501）One
End is connected, the crank rocker（501）The other end and marble emitting module（3）It is connected, for adjusting marble transmitting group
Part（3）Launch angle.
10. a kind of intelligent carriage with marble emission function according to claim 3, it is characterised in that：The transmitting
Baffle ring（3051）It is formed using 3D printing, the push rod（3052）It is made of carbon fibre material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610893056.3A CN106312995B (en) | 2016-10-13 | 2016-10-13 | A kind of intelligent carriage with marble emission function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610893056.3A CN106312995B (en) | 2016-10-13 | 2016-10-13 | A kind of intelligent carriage with marble emission function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106312995A CN106312995A (en) | 2017-01-11 |
| CN106312995B true CN106312995B (en) | 2018-09-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610893056.3A Active CN106312995B (en) | 2016-10-13 | 2016-10-13 | A kind of intelligent carriage with marble emission function |
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| CN (1) | CN106312995B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109625756B (en) * | 2018-12-28 | 2024-02-13 | 宁波甬新东方电气有限公司 | Transformer transfer device |
| CN113618753B (en) * | 2021-08-23 | 2023-02-28 | 江苏派尔高智能科技有限公司 | Mobile intelligent robot |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9010309B2 (en) * | 2011-11-02 | 2015-04-21 | Toca, Llc | Ball throwing machine and method |
| CN203001920U (en) * | 2012-07-02 | 2013-06-19 | 燕山大学 | Intelligence development pitching machine |
| CN104888450A (en) * | 2014-03-05 | 2015-09-09 | 智高实业股份有限公司 | Football building block unit |
| CN204952203U (en) * | 2015-08-10 | 2016-01-13 | 宿州学院 | Intelligence football service robot |
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